Self-Position Recognition System Using Tetrahedron Landmarks

Abstract

The purpose of this study is to analyze the possibility of autonomous movements by recognizing a self-position by camera and tetrahedron landmarks. In this paper the landmarks are composed of a tetrahedron of red or green colored balls 75 mm in the four apexes. The regular tetrahedron has a side length of 500 mm. In order to know the three-dimensional position the most suitable triangle for measuring is chosen from four equilateral triangles which compose the landmark. We propose a method for choosing the most suitable triangle for measuring. The validity of the proposed method is examined by numerical simulations.